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CoppeliaSim main features
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					<div>Simulator and simulations are fully customizable, with 6 programming approaches that are mutually compatible and that can even work hand-in-hand. 6 fully supported programming languages.</div> </span></td>
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					  <div><strong>Regular API</strong>: C & Lua</div>
                      
					  <div><strong>Remote API</strong>: C, Python, Java, Matlab, Octave &amp; Lua</div>
					  <div><strong>ROS &amp; BlueZero interfaces</strong>: publishers, subscribers &amp; service calls. Support all standard messages, extendable.</div>
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					<div>&gt; 100 embeddable CoppeliaSim functions: control a simulation or the simulator itself remotely (e.g. from a real robot or another PC). Easy to use, extendable, supports sync. or async. operation</div></span></td>
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					<div>4 physics engines (Bullet Physics, ODE, Vortex Studio and Newton Dynamics) for fast and customizable dynamics calculations, to simulate real-world physics and object interactions (collision response, grasping, etc.)</div></span></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="386"><span class="tablerunningtext"><div>Inverse/forward kinematics calculations for any type of mechanism (branched, closed, redundant, containing nested loops, etc.). An embeddable version of the IK/FK algorithms is available (i.e. can run on your robot).</div></span></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext"><div>CoppeliaSim supports customizable particles that can be used to simulate air or water jets, jet engines, propellers, etc.</div></span></td>
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					<div>Fast interference checking between any mesh, OC tree, point cloud, or collection of those.</div></span></td>
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					<div>Fast and exact minimum distance calculation between any mesh (convex, concave, open, closed), OC tree, point cloud, or collection of those.</div></span></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext"><div>CoppeliaSim is cross-platform, and allows the creation of portable, scalable and easy maintainable content: a single portable file can contain a fully functional model (or scene), including control code.</div></span></td>
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					<div>Powerful and realistic proximity sensor simulation (exact min. distance calculation within a customizable detection volume). Much more continuous operation than with discrete ray sensors. Operates on meshes, OC trees and point clouds</div></span></td>
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					<div>Simulation of vision sensors with many possibilities for image processing, fully customizable and extendable (e.g. via plugin)</div></span></td>
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					<div>Anything - from sensors or actuators, to whole robotic systems - can be built within CoppeliaSim by combining basic objects and linking various functionality via embedded scripts. Every scene object can have its own embedded script!</div></span></td>
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					<div>Path planning / motion planning is supported in a very flexible way via the <a href="http://ompl.kavrakilab.org/">OMPL library</a> wrapped in a plugin for CoppeliaSim</div></span></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="386"><span class="tablerunningtext"><div>A large variety of recordable data streams (including user-defined) can display time-graphs, or can be combined with each other to form x/y-graphs, or 3D curves</div></span></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext"><div>Unlimited number of fully customizable user interface elements</div></span></td>
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			<table width="979" border="0" cellspacing="0" cellpadding="0" background="images/features/tablebg2.png" cool gridx="10" gridy="10" height="495" showgridx showgridy>
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					<td width="978" height="37" colspan="16"></td>
					<td width="1" height="37"><spacer type="block" width="1" height="37"></td>
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					<td width="22" height="63"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="22"><font color="white"><span class="tableheadline">Integrated Edit Modes</span></font></td>
					<td width="86" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="348"><font color="white"><span class="tableheadline">Easy Data Import/Export</span></font></td>
					<td width="85" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="673"><font color="white"><span class="tableheadline">RRS Interface & Motion Library</span></font></td>
					<td width="65" height="63" colspan="2"></td>
					<td width="1" height="63"><spacer type="block" width="1" height="63"></td>
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					<td width="44" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="44"><a href="shapeEditModes.htm"><img src="images/features/editModes.png" alt="" width="240" height="240" border="0"></a></td>
					<td width="80" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="371"><a href="importExport.htm"><img src="images/features/importExport.png" alt="" width="240" height="240" border="0"></a></td>
					<td width="76" height="268" colspan="2"></td>
					<td width="248" height="268" colspan="3" valign="top" align="left" xpos="694"><img src="images/features/rrs-reflexxes.png" alt="" width="240" height="240" border="0"></td>
					<td width="36" height="394" rowspan="2"></td>
					<td width="1" height="268"><spacer type="block" width="1" height="268"></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="59"><span class="tablerunningtext"><div>Special mesh edit modes are supported  (including a semi-automatic primitive shape extraction method, convex decomposition, mesh decimation, etc.)</div></span></td>
					<td width="95" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="386"><span class="tablerunningtext">
					<div>Following file formats are supported (also when called through the API): URDF, COLLADA, DXF, 3DS, OBJ, STL (ASCII & binary)</div></span></td>
					<td width="92" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext">
					<div>The <a href="http://www.realistic-robot-simulation.org/">RRS-1</a> interface specifications are fully implemented, and the <a href="http://www.reflexxes.com">Reflexxes</a> Motion Library and <a href="https://github.com/pantor/ruckig#readme">Ruckig Online Trajectory Generator</a> are fully supported.</div></span></td>
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					<td width="203" height="1"><spacer type="block" width="203" height="1"></td>
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			<table width="979" border="0" cellspacing="0" cellpadding="0" background="images/features/tablebg2.png" cool gridx="10" gridy="10" height="495" showgridx showgridy>
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					<td width="978" height="37" colspan="16"></td>
					<td width="1" height="37"><spacer type="block" width="1" height="37"></td>
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					<td width="22" height="63"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="22"><font color="white"><span class="tableheadline">Full-Featured Scene Hierarchy</span></font></td>
					<td width="86" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="348"><font color="white"><span class="tableheadline">Convenient Model Browser</span></font></td>
					<td width="85" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="673"><font color="white"><span class="tableheadline">Full Interaction</span></font></td>
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					<td width="1" height="63"><spacer type="block" width="1" height="63"></td>
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					<td width="44" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="44"><a href="userInterface.htm#SceneHierarchy"><img src="images/features/hierarchy.png" alt="" width="240" height="240" border="0"></a></td>
					<td width="80" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="371"><a href="userInterface.htm#ModelBrowser"><img src="images/features/modelBrowser.png" alt="" width="240" height="240" border="0"></a></td>
					<td width="76" height="268" colspan="2"></td>
					<td width="248" height="268" colspan="3" valign="top" align="left" xpos="694"><img src="images/features/interaction.png" alt="" width="240" height="240" border="0"></td>
					<td width="36" height="394" rowspan="2"></td>
					<td width="1" height="268"><spacer type="block" width="1" height="268"></td>
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					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="59"><span class="tablerunningtext"><div>The scene composition is intuitively visualized in a scene hierarchy view, indicating object aliases, types, associated control scripts, loop closures, selection and visibility states, warnings, etc.</div></span></td>
					<td width="95" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="386"><span class="tablerunningtext"><div>The integrated model browser supports drag-and-drop operations (also during simulation!) for convenient scene composition. The available model library, updated at each release, can be easily extended by the user</div></span></td>
					<td width="92" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext">
					<div>Full interaction also during simulations: models, together with their associated behavior (i.e. embedded scripts) can be shifted, rotated, copy/pasted, scaled, erased, etc. without having to adjust any code</div></span></td>
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					<td width="203" height="1"><spacer type="block" width="203" height="1"></td>
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					<td width="202" height="1"><spacer type="block" width="202" height="1"></td>
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					<td width="21" height="1"><spacer type="block" width="21" height="1"></td>
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					<td width="203" height="1"><spacer type="block" width="203" height="1"></td>
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					<td width="36" height="1"><spacer type="block" width="36" height="1"></td>
					<td width="1" height="1"></td>
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			</table>
			
			<table width="979" border="0" cellspacing="0" cellpadding="0" background="images/features/tablebg2.png" cool gridx="10" gridy="10" height="495" showgridx showgridy>
				<tr height="37">
					<td width="978" height="37" colspan="16"></td>
					<td width="1" height="37"><spacer type="block" width="1" height="37"></td>
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				<tr height="63">
					<td width="22" height="63"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="22"><font color="white"><span class="tableheadline">Free Educational License</span></font></td>
					<td width="86" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="348"><font color="white"><span class="tableheadline">Free Player Version</span></font></td>
					<td width="85" height="63" colspan="2"></td>
					<td content csheight="20" width="240" height="63" colspan="3" valign="top" align="left" xpos="673"><font color="white"><span class="tableheadline">Many More features!</span></font></td>
					<td width="65" height="63" colspan="2"></td>
					<td width="1" height="63"><spacer type="block" width="1" height="63"></td>
				</tr>
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					<td width="44" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="44"><img src="images/features/CoppeliaSimEduSquare.png" alt="" width="240" height="240" border="0"></td>
					<td width="80" height="268" colspan="2"></td>
					<td width="247" height="268" colspan="3" valign="top" align="left" xpos="371"><img src="images/features/CoppeliaSimPlayerSquare.png" alt="" width="240" height="240" border="0"></td>
					<td width="76" height="268" colspan="2"></td>
					<td width="248" height="268" colspan="3" valign="top" align="left" xpos="694"><img src="images/features/wireless.png" alt="" width="240" height="240" border="0"></td>
					<td width="36" height="394" rowspan="2"></td>
					<td width="1" height="268"><spacer type="block" width="1" height="268"></td>
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					<td width="59" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="59"><span class="tablerunningtext">
					<div>Educational entities (hobbyists, students, teachers, professors, schools and Universities) can use CoppeliaSim Edu for free. The source code of all elements is available. Refer to the <a href="licensing.htm">licensing page</a> for details</div></span></td>
					<td width="95" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="386"><span class="tablerunningtext"><div>A free CoppeliaSim Player version is available, and allows running and interacting with CoppeliaSim simulations</div></span></td>
					<td width="92" height="126" colspan="3"></td>
					<td content csheight="100" width="232" height="126" colspan="2" valign="top" align="left" xpos="710"><span class="tablerunningtext">
					<div>e.g. multilevel undo/redo, integrated ray-tracer, movie recorder, simulation of wireless communications, simulation of paint or welding seams, OC trees, point clouds, exhaustive documentation, etc.</div></span></td>
					<td width="1" height="126"><spacer type="block" width="1" height="126"></td>
				</tr>
				<tr height="1" cntrlrow>
					<td width="22" height="1"><spacer type="block" width="22" height="1"></td>
					<td width="22" height="1"><spacer type="block" width="22" height="1"></td>
					<td width="15" height="1"><spacer type="block" width="15" height="1"></td>
					<td width="203" height="1"><spacer type="block" width="203" height="1"></td>
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					<td width="57" height="1"><spacer type="block" width="57" height="1"></td>
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					<td width="15" height="1"><spacer type="block" width="15" height="1"></td>
					<td width="202" height="1"><spacer type="block" width="202" height="1"></td>
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					<td width="21" height="1"><spacer type="block" width="21" height="1"></td>
					<td width="16" height="1"><spacer type="block" width="16" height="1"></td>
					<td width="203" height="1"><spacer type="block" width="203" height="1"></td>
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					<td width="36" height="1"><spacer type="block" width="36" height="1"></td>
					<td width="1" height="1"></td>
				</tr>
			</table> 


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  <td >


<p>
<a name="moreFeatures" id="moreFeatures"></a>More features include:
</p>

<li>
Various types of <a href="joints.htm">joints</a> (revolute-, prismatic-, screw- or spherical-type).</li>
<li>
Distributed control and script-driven</a>: each scene object can have an <a href="childScripts.htm">embedded script</a> attached, all operating at the same time, in a threaded or non-threaded fashion. </li>
<li>
Minimal or no programming required for <a href="mainScript.htm">simple simulations</a>. </li>
<li>
Fully customizable <a href="mainClientApplication.htm">main client application loop</a>. </li>

<li>
Unlimited number of simultaneously opened <a href="scenes.htm">scenes</a>.</li>
<li>
Full copy/paste functionality, not just for objects, but also for their associated behavior (programs), also during simulation.
</li>
<li>
Model <a href="regularApi/simCopyPasteObjects.htm">self-duplication</a> or <a href="regularApi/simRemoveObject.htm">self-destruction</a> capability (from within the model itself), together with associated data and embedded scripts. </li>
<li>
Built-in <a href="aviRecorder.htm">Video recorder</a>. </li>
<li>
<a href="convexDecomposition.htm">Convex decomposition</a> and <a href="convexHull.htm">convex hull calculation</a> functions. </li>
<li>
Powerful and flexible <a href="meansOfCommunication.htm#wireless">wireless communication simulation and visualization</a>. </li>
<li>
Very elaborate and easily <a href="meansOfCommunication.htm">extendable means of communication within CoppeliaSim or with the outside world</a>. </li>
<li>
<a href="apiFunctions.htm#drawingObject">Customizable drawing objects</a> (points, lines, triangles, etc.). Allows simulation of paint, welding seams, etc. </li>
<li>
<a href="apiFunctions.htm#particleObject">Customizable dynamic particles</a>. Allows simulation of air or water jets, jet engines, propellers, etc. </li>
<li>
<a href="textureDialog.htm">Static and dynamic texturing</a>. </li>
<li>
Multi-level undo/redo.
</li>
<li>
Objects and attached functionalities are fully scalable (resizable), also during simulation.
</li>
<li>
Simulation speed control also during simulation.
</li>
<li>
Compact scene and model files (one single compressed binary file containing all what is needed (objects and programs)).
</li>
<li>
Possibility to lock scenes from further edition/modification, script content viewing or resource export.
</li>
<li>
Very high level of in-house technology development and/or implementation 
</li>
<li>
Exhaustive and comprehensive documentation.
</li>

	
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 <br> 

  
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